CN220826009U - Clamp device and tool car - Google Patents

Abstract

The utility model discloses a clamp device and a tool trolley, wherein the clamp device comprises a clamp base body, a first clamp arm group, a second clamp arm group and a ranging sensor; the first clamping arm group comprises a first mechanical arm, a first driving source and a first chuck; the second clamping arm group comprises a second mechanical arm, a second driving source and a second chuck; the first mechanical arm and the second mechanical arm are both in rotary connection with the clamp base body, and are oppositely arranged; the first driving source is used for driving the first mechanical arm to move in a direction towards or away from the second mechanical arm; the second driving source is used for driving the second mechanical arm to move in a direction towards or away from the first mechanical arm; the end, away from the clamp base, of the first mechanical arm is provided with a first chuck, and the end, away from the clamp base, of the second mechanical arm is provided with a second chuck; at least one of the first and second robotic arms is provided with a ranging sensor. The problem that the safety and the reliability of the fixture device of the tool car are poor can be solved by the aid of the scheme.

Description

Clamp device and tool car

Technical Field

The utility model relates to the technical field of engineering machinery, in particular to a clamp device and a tool car.

Background

The engineering vehicle is a main tool for construction, petroleum, coal mine and other engineering. The engineering vehicle comprises a heavy transport vehicle, a large crane, an excavator, a bulldozer, a road roller, a loader, an electric power rush-repair vehicle, an engineering rush-repair vehicle and the like. Because of the large volume of the parts of the engineering vehicle, the replacement of spare parts of the engineering vehicle is difficult and cumbersome. Taking the tire of the engineering vehicle as an example, the tire of the engineering vehicle has large size and large weight, so the installation difficulty is high. In order to reduce the difficulty in changing the tires of the construction vehicle, a special tool vehicle is used in the related art to change the tires of the construction vehicle.

In the related art, the tool car includes the automobile body and installs the fixture device on the automobile body, and fixture device is used for the tire of centre gripping engineering vehicle, and the automobile body is used for driving the anchor clamps and removes to transport the tire to appointed position, and then be convenient for change tire.

However, since the tires of the construction vehicle are generally large in size, the view of the operator is easily affected, the blind area of operation is increased, and the jig device is easily damaged because of the risk of collision with the hub or other parts of the construction vehicle. The safety and reliability of the clamp device of the tool car in the related art are poor.

Disclosure of utility model

The utility model discloses a clamp device and a tool trolley, which are used for solving the problem that the clamp device of the tool trolley is poor in safety and reliability.

In order to solve the problems, the utility model adopts the following technical scheme:

A clamp device comprises a clamp base body, a first clamp arm group, a second clamp arm group and a ranging sensor;

The first clamping arm group comprises a first mechanical arm, a first driving source and a first chuck; the second clamping arm group comprises a second mechanical arm, a second driving source and a second chuck; the first mechanical arm and the second mechanical arm are both in rotary connection with the clamp base body, and the first mechanical arm and the second mechanical arm are oppositely arranged; the first driving source is used for driving the first mechanical arm to move in a direction towards or away from the second mechanical arm; the second driving source is used for driving the second mechanical arm to move along the direction towards or away from the first mechanical arm; the first mechanical arm is provided with a first chuck at one end, which is away from the clamp base body, and the second mechanical arm is provided with a second chuck at one end, which is away from the clamp base body, and the first chuck and the second chuck can form a clamping space;

At least one of the first and second robotic arms is provided with the ranging sensor for detecting a distance to an obstacle.

A tool car comprises a car body, a control device and the clamp device.

The technical scheme adopted by the utility model can achieve the following beneficial effects:

According to the clamp device disclosed by the utility model, the first clamping arm group and the second clamping arm group of the clamp device are matched with each other to realize clamping operation on parts, and meanwhile, the front end of the first clamping arm group and/or the front end of the second clamping arm group are provided with the ranging sensor which can detect the distance between the first clamping arm group and an obstacle in real time, so that obstacle avoidance operation can be realized. Therefore, when the sight of a driver is blocked by the parts clamped by the clamp device, the ranging sensor can realize obstacle avoidance operation, so that the risk of collision between the clamp device and the hub or other parts of the engineering vehicle is reduced, the clamp device is prevented from being damaged, and the safety and reliability of the clamp device can be improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

Fig. 1 to 3 are schematic structural views of a clamp device according to an embodiment of the present utility model.

Reference numerals illustrate:

100-clamp device, 110-clamp base, 111-fixed base, 111 a-first guide shaft, 111 b-second guide shaft, 112-rotating arm, 113-electric turntable, 1131-first set of joints, 1132-second set of joints, 120-first set of clamp arms, 121-first mechanical arm, 1211-first bracket, 1211 a-first connection bracket, 1211 b-second connection bracket, 1212-first arm body, 122-first drive source, 123-first chuck, 1231-first toothed structure, 124-first motor, 125-first coupling, 130-second set of clamp arms, 131-second mechanical arm, 1311-second bracket, 1311 a-third connection bracket, 1311 b-fourth connection bracket, 1312-second arm body, 132-second drive source, 133-second chuck, 1331-second toothed structure, 134-second motor, 135-second coupling, 140-distance sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to specific embodiments of the present utility model and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The technical scheme disclosed by each embodiment of the utility model is described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 3, an embodiment of the present utility model discloses a clamp device 100, wherein the clamp device 100 is applied to a tool car, and the tool car can carry and install parts of a construction vehicle when the construction vehicle is maintained. The disclosed clamp apparatus 100 includes a clamp base 110, a first clamp arm set 120, and a second clamp arm set 130.

The clamp base 110 provides a mounting base for other constituent components of the clamp apparatus 100, and at the same time, the clamp base 110 is used for connection with a vehicle body of a tool vehicle, thereby realizing assembly of the clamp apparatus 100 with the vehicle body.

The first clamping arm set 120 and the second clamping arm set 130 are movably arranged on the clamp base 110, and the first clamping arm set 120 and the second clamping arm set 130 can be matched with each other to realize clamping operation on parts. Specifically, the first clamp arm group 120 includes a first mechanical arm 121, a first driving source 122, and a first chuck 123; the second clamp arm group 130 includes a second mechanical arm 131, a second driving source 132, and a second chuck 133. The first mechanical arm 121 and the second mechanical arm 131 are rotatably connected with the clamp base 110, and the first mechanical arm 121 and the second mechanical arm 131 are oppositely arranged. The first driving source 122 is used for driving the first mechanical arm 121 to move in a direction towards or away from the second mechanical arm 131. The second driving source 132 is used to drive the second mechanical arm 131 to move in a direction toward or away from the first mechanical arm 121. The end of the first mechanical arm 121 facing away from the clamp base 110 is provided with a first chuck 123, the end of the second mechanical arm 131 facing away from the clamp base 110 is provided with a second chuck 133, and the first chuck 123 and the second chuck 133 can form a clamping space.

In a specific operation process, when the fixture apparatus 100 clamps the parts, the first driving source 122 drives the first mechanical arm 121 to swing in a direction toward the second mechanical arm 131, and at the same time, the second driving source 132 also drives the second mechanical arm 131 to swing in a direction toward the first mechanical arm 121. At this time, the first mechanical arm 121 and the second mechanical arm 131 are close to each other, and the first chuck 123 on the first mechanical arm 121 and the second chuck 133 on the second mechanical arm 131 are simultaneously attached to two opposite sides of the part to be clamped, and the part of the part is located in the clamping space formed by the first chuck 123 and the second chuck 133, so as to clamp the goods. When the fixture apparatus 100 unloads the parts, the first driving source 122 drives the first mechanical arm 121 to swing in a direction away from the second mechanical arm 131, and at the same time, the second driving source 132 also drives the second mechanical arm 131 to swing in a direction away from the first mechanical arm 121. At this time, the first and second robot arms 121 and 131 are far away from each other, and the first chuck 123 on the first robot arm 121 and the second chuck 133 on the second robot arm 131 are far away from the parts to be clamped at the same time, thereby unloading the goods.

The jig device 100 of the present disclosure further includes a ranging sensor 140, and at least one of the first and second robot arms 121 and 131 is provided with the ranging sensor 140. The ranging sensor 140 is used to detect a distance to an obstacle. Alternatively, the ranging sensor 140 may be disposed at an end of the first and/or second robot arms 121 and 131 facing away from the jig base 110.

The distance measuring sensor 140 disclosed in the present application may be an ultrasonic distance measuring sensor, a laser distance measuring sensor or an external line distance measuring sensor, and of course, may be other types of distance measuring sensors 140, which is not limited herein.

In a specific operation process, the distance measuring sensor 140 can detect the distance between the first mechanical arm 121 and/or the second mechanical arm 131 and the obstacle in real time, so that the data detected by the distance measuring sensor 140 can provide detection data for a driver operating the tool car, and when the distance value detected by the distance measuring sensor 140 is smaller than the preset distance, the driver can perform corresponding operation, for example, stop running the mechanical arm or drive the mechanical arm away from the obstacle. The disclosed clamp device 100 can thus achieve obstacle avoidance operations. Therefore, when the driver's sight is blocked by the parts clamped by the clamp device 100, the ranging sensor 140 can realize the obstacle avoidance operation, thus reducing the risk of collision of the clamp device 100 with the hub or other parts of the engineering vehicle, so as to avoid damage to the clamp device 100, and thus improving the safety and reliability of the clamp device 100.

In addition, the distance measuring sensor 140 can also detect and position the relative distance between the jig device 100 and the working vehicle, so that the fitting or mounting operation according to the accuracy can be improved.

In the above embodiment, the first driving source 122 and the second driving source 132 may be power structures such as a driving motor, a hydraulic cylinder, a pneumatic cylinder, and the like.

In the above-described embodiments, the angles between the first chuck 123 and the second chuck 133 and the first robot arm 121 and the second robot arm 131 are difficult to adjust. Therefore, when the first and second mechanical arms 121 and 131 clamp the components, it is difficult to adjust the relative positions between the first and second mechanical arms 121 and 131 and the components, so that the flexibility of the fixture device 100 is poor. For example, when the first mechanical arm 121 and the second mechanical arm 131 clamp the tire of the engineering vehicle to the position where the hub is located, the tire and the hub need to be aligned and matched. If the positions between the first and second robot arms 121 and 131 and the clamped tire are difficult to adjust, alignment between the tire and the hub is easy to be made, thus making installation difficult.

In another alternative embodiment, the first arm-set 120 may further include a first motor 124, and the first motor 124 may be disposed on the first mechanical arm 121. A drive shaft of the first motor 124 may be coupled to the first chuck 123, and the first motor 124 may drive the first chuck 123 to rotate relative to the first robot arm 121. The second arm-clamping set 130 may further include a second motor 134, the second motor 134 may be disposed on the second mechanical arm 131, a driving shaft of the second motor 134 may be connected to the second chuck 133, and the second motor 134 may drive the second chuck 133 to rotate relative to the second mechanical arm 131.

In a specific operation process, when the first mechanical arm 121 and the second mechanical arm 131 clamp the tire of the engineering vehicle to the position where the hub is located, the first chuck 123 and the second chuck 133 can be driven to rotate by the first motor 124 and the second motor 134, so that the circumferential position of the tire is adjusted, the alignment between the tire and the hub is more convenient, and the assembly difficulty is reduced.

In this scheme, the first motor 124 and the second motor 134 can rotate the chuck corresponding to the first motor 124 and the second motor 134, so that the angle of the chuck can be accurately adjusted, and the relative positions between the first mechanical arm 121 and the second mechanical arm 131 and the parts can be accurately adjusted, so that the flexibility of the fixture device 100 is further improved.

In addition, since the first motor 124 and the second motor 134 can rotate the chucks corresponding thereto, a more precise grabbing operation can be performed when grabbing the parts, thereby improving the reliability of the clamping device 100 for grabbing the parts.

Alternatively, the first motor 124 and the second motor 134 may be synchronous permanent magnet motors or direct current permanent magnet motors, although the first motor 124 and the second motor 134 may have other structures, which are not limited herein.

Further, the first clamping arm set 120 may further include a first coupling 125, and a driving shaft of the first motor 124 may be connected to the first chuck 123 through the first coupling 125. The second clamping arm set 130 may further include a second coupling 135, and a drive shaft of the second motor 134 may be connected to the second chuck 133 through the second coupling 135.

In this scheme, the shaft coupling has buffering, shock-absorbing function, so can make spare part more steady in the rotation in-process, consequently reduced the vibration of spare part under the grip state, avoid the risk that goods damaged or dropped.

In another alternative embodiment, the first mechanical arm 121 may include a first bracket 1211 and a first arm 1212, one end of the first bracket 1211 may be rotatably connected to the clamp base 110, and the other end of the first bracket 1211 may be rotatably connected to the first arm 1212. The end of the first arm 1212 facing away from the first bracket 1211 may be provided with a first chuck 123. The fixed end of the first driving source 122 is connected to the clamp base 110, and the driving end of the first driving source 122 may be connected to the first arm 1212. The first driving source 122 can drive the first bracket 1211 and the first arm 1212 to swing.

The second mechanical arm 131 may include a second bracket 1311 and a second arm body 1312, one end of the second bracket 1311 may be rotatably connected with the clamp base 110, and the other end of the second bracket 1311 may be rotatably connected with the second arm body 1312. The end of the second arm 1312 facing away from the second bracket 1311 may be provided with a second chuck 133. The fixed end of the second driving source 132 may be connected to the clamp base 110, and the driving end of the second driving source 132 may be connected to the second arm 1312. The second driving source 132 can drive the second bracket 1311 and the second arm 1312 to swing.

Alternatively, when the first driving source 122 and the second driving source 132 are one of a driving motor, a hydraulic cylinder, and a pneumatic cylinder, the driving end refers to a driving shaft of the driving motor, the hydraulic cylinder, or the pneumatic cylinder, and the fixed end refers to a housing of the driving motor, the hydraulic cylinder, or the pneumatic cylinder.

In this solution, the first mechanical arm 121 and the second mechanical arm 131 are both of a dual-link structure, and the dual-link structure can increase the clamping size of the clamping device 100. Meanwhile, the rotation amplitude of each bracket and each arm body can be reduced while the whole clamping size is increased, so that the risk of collision caused by larger swinging amplitude of a single mechanical arm is avoided.

Further, the first bracket 1211 may include a first connecting frame 1211a and a second connecting frame 1211b, and both ends of the first connecting frame 1211a and the second connecting frame 1211b are rotatably connected to the clamp base 110 and the first arm 1212, respectively. At this time, the first end of the first connecting frame 1211a and the first end of the second connecting frame 1211b may be rotatably connected to the clamp base 110, and the second end of the first connecting frame 1211a and the second end of the second connecting frame 1211b may be rotatably connected to the first arm 1212. The first driving source 122 may be located between the first and second connection frames 1211a and 1211 b.

In this embodiment, the first connecting frame 1211a and the second connecting frame 1211b can jointly support the first arm 1212, thereby improving the strength of the first bracket 1211 and avoiding the risk of breaking the first arm-clip 120.

Similarly, the second bracket 1311 may include a third connecting frame 1311a and a fourth connecting frame 1311b, and both ends of the third connecting frame 1311a and the fourth connecting frame 1311b may be rotatably connected to the clamp base 110 and the second arm 1312, respectively. At this time, the first end of the third link 1311a and the first end of the fourth link 1311b may be rotatably connected to the clamp base 110, and the second end of the third link 1311a and the second end of the fourth link 1311b may be rotatably connected to the second arm 1312. The second driving source 132 may be located between the third link 1311a and the fourth link 1311 b.

In this embodiment, the third connecting frame 1311a and the fourth connecting frame 1311b can jointly support the second arm 1312, so as to improve the strength of the first bracket 1211 and avoid the risk of breaking the second arm-clamping group 130.

To further enhance the flexibility of the fixture apparatus 100, in another alternative embodiment, the fixture base 110 may include a fixed base 111, a rotating arm 112, and an electric turntable 113, the electric turntable 113 may be connected to the fixed base 111, the rotating arm 112 may be connected to the electric turntable 113, and the first mechanical arm 121 and the second mechanical arm 131 may be rotatably connected to the rotating arm 112. Alternatively, when the first mechanical arm 121 includes the first bracket 1211 and the first arm body 1212, and the second mechanical arm 131 includes the second bracket 1311 and the second arm body 1312, the first bracket 1211 and the second bracket 1311 may be rotatably connected to the rotating arm 112. The electric rotating disc can drive the rotating arm 112 to rotate relative to the fixed seat 111.

In this solution, the electric turntable 113 can drive the rotating arm 112 to rotate, and the rotating arm 112 can drive the first clamping arm set 120 and the second clamping arm set 130 to rotate, so as to drive the parts to move. At this time, the electric turntable 113 can adjust the relative positions between the first clamping arm set 120 and the second clamping arm set 130 and the fixing base 111, so as to further improve the flexibility of the fixture device 100, thereby further reducing the difficulty of installing and removing the parts.

In the above embodiment, the electric turntable 113 may include a fixed disk as a mounting base of the motor and the rotating disk, the motor may drive the rotating disk to rotate, and the rotating arm 112 is connected to the rotating disk, so that the rotating disk rotates together during the rotation of the rotating disk driven by the motor. The specific structure and principle of the electric turntable 113 in the present application are known in the art, and thus are not described herein.

In the above embodiment, the center axis of the electric rotary plate 113 may be parallel to the center rotation axis of the rotary arm 112. Preferably, the central axis of the electric turntable 113 coincides with the central rotation axis of the rotating arm 112.

Further, the fixing base 111 may be provided with a guide, the electric turntable 113 may be slidably connected with the guide, the electric turntable 113 may be movable relative to the fixing base 111 along an extending direction of the guide, and the extending direction of the guide shaft may intersect with a central rotation axis of the rotating arm 112.

In this solution, the electric turntable 113 can move relative to the fixed base 111, so that the first clamping arm set 120 and the second clamping arm set 130 can be moved simultaneously by moving the electric turntable 113, thereby further increasing the moving range of the clamping apparatus 100, and further improving the flexibility of the clamping apparatus 100.

In a specific embodiment, the guide may include a first guide shaft 111a and a second guide shaft 111b, and the first guide shaft 111a and the second guide shaft 111b may be disposed at intervals along an extension direction of the first guide shaft 111 a. The first guide shaft 111a and the second guide shaft 111b may be parallel. Here, it means that the axis of the first guide shaft 111a and the axis of the second guide shaft 111b are parallel. The electric rotary table 113 may be provided with a first fitting portion 1131 and a second fitting portion 1132, the first fitting portion 1131 may be fitted to the first guide shaft 111a, and the second fitting portion 1132 may be fitted to the second guide shaft 111b.

In this scheme, the both sides of electric turntable 113 are provided with the suit portion to make the holding power that electric turntable 113 received balanced relatively, avoided electric turntable 113 unilateral atress too big risk, consequently further improved the security and the reliability of clamp device 100.

In addition, the division of the guide into two separate components also reduces the volume of the guide, facilitates assembly of the guide, and further facilitates reducing the overall weight of the jig device 100.

In a preferred embodiment, the central axis of the first guide shaft 111a and the central axis of the second guide shaft 111b may coincide. At this time, the structure of the jig device 100 is more compact and regular, and is convenient to manufacture and assemble.

The guide disclosed by the application is not limited to the structure, and can also be a guide structure such as a guide rail, a guide rod and the like, so that the specific structure of the guide is not limited.

In an alternative embodiment, the guide may comprise a rail and a slider, the slider being in sliding connection with the rail, the rail being connected with the electric turntable 113. At this time, the sliding may drive the electric turntable 113 to slide relative to the guide rail.

The present application may further include a driving part for driving the electric rotary table 113 to move in the extending direction of the guide. The driving part may be disposed on the guide member, for example, the guide member may be a screw rod, the above slider or the sleeving part may be a screw rod sleeve, and the driving part drives the screw rod to rotate so as to drive the screw rod sleeve to move. Still alternatively, the driving unit may be a driving motor, and the driving motor may drive the electric turntable 113 to move. The driving part may be fixedly mounted on the fixing base 111 or may be fixedly mounted on the vehicle body, which is not limited herein.

To further increase the safety and reliability of the fixture apparatus 100, in an alternative embodiment, a surface of the first chuck 123 on a side facing the second chuck 133 may be provided with a first tooth form structure 1231, where the first tooth form structure 1231 is provided on a contact surface of the first chuck 123 with the component part. The surface of the second chuck 133 facing the side of the first chuck 123 is provided with a second tooth-shaped structure 1331, wherein the second tooth-shaped structure 1331 is arranged on the contact surface of the second chuck 133 with the component.

In this aspect, the first tooth structure 1231 and the second tooth structure 1331 can increase the adhesion friction between the first chuck 123 and the second chuck 133 and the component, so that the risk of falling the component can be avoided, thereby further improving the safety and reliability of the clamp device 100.

Alternatively, as shown in fig. 2, the first tooth form structure 1231 and the second tooth form structure 1331 are shaped tooth structures, where shaped tooth structures refer to individual teeth that differ in volume. Of course, other configurations are possible and are not limiting herein.

Based on the fixture device 100 disclosed in the embodiment of the present application, the embodiment of the present application also discloses a tool wagon, and the disclosed tool wagon includes the fixture device 100 described in any of the above embodiments.

The tool wagon disclosed by the application further comprises a wagon body, wherein the wagon body is used for bearing and moving the clamp device 100. The clamp body of the clamp device 100 is fixedly connected with the vehicle body. Alternatively, in the case where the jig base 110 includes the fixing base 111, the fixing base 111 is connected with the vehicle body.

In this scheme, when the driver's sight is blocked by the parts clamped by the clamp device 100, the ranging sensor 140 can realize the obstacle avoidance operation, so the risk of collision between the clamp device 100 and the hub or other parts of the engineering vehicle is reduced, so as to avoid damage to the clamp device 100, and thus the safety and reliability of the clamp device 100 can be improved.

The tool car disclosed by the application further comprises a control device, wherein the control device is provided with a circuit system, a device and the like which can control the electric mechanism, for example, a main control system, an operation platform, a control button and the like of the tool car. The control device is arranged on the vehicle body, is in control connection with the first clamping arm set 120 and the second clamping arm set 130, and is electrically connected with the ranging sensor 140.

In a specific operation process, when the distance value detected by the distance measuring sensor 140 is smaller than the preset distance, the control device sends out an alarm signal, and a driver can correspondingly operate the tool car according to the alarm signal of the control device so as to avoid collision between the mechanical arm and the obstacle. In addition, specific operation actions of the jig device 100 are also controlled by the control system. For example, the driver may set control information or parameters through a control panel of the control device, and then control the actions of the first arm set 120, the second arm set 130, and other components of the clip device 100, so that the clip device 100 performs corresponding actions.

The specific structure and principle of the control device in the present application are well known, and therefore will not be described herein.

In a specific operation process, the fixing base 111 is connected to the vehicle body, and the vehicle body can lift the fixing base 111, so as to realize the lifting action of the fixture device 100. The clamp device 100 can realize radial 360-degree rotation when the tire is grabbed by the electric turntable 113. The first and second fitting portions 1131 and 1132 may be precisely controlled by the electric cylinder, and horizontally move on the first and second guide shafts 111a and 111b, so that the position of the rotating arm 112 may be adjusted according to the actual application on site. The expansion and contraction of the driving shafts of the first driving source 122 and the second driving source 132 can drive the first mechanical arm 121 and the second mechanical arm 131 to swing, so as to realize the expansion and contraction of the first mechanical arm 121 and the second mechanical arm 131. The first and second chucks 123 and 133 may be powered by the first and second motors 124 and 134 through corresponding couplings, and the first and second motors 124 and 134 may be configured with encoders, so that precise position control may be performed, and the first and second chucks 123 and 133 may be provided with tooth-shaped structures, thereby increasing traction of the chucks with the tire. In addition, the front ends of the first clamping arm set 120 and/or the second clamping arm set 130 are provided with distance measuring sensors 140, and the distance measuring sensors 140 can monitor the distance between the first clamping arm set 120 and/or the second clamping arm set 130 and the body of the engineering vehicle in real time, so that the risk of collision of the clamp device 100 and the body or clamping injury of field personnel is prevented.

In a specific operation process, a driver drives the tool vehicle to a specified position to hold the tire, the tire is placed at the general position of the mounting hub according to the command of on-site personnel, after the accurate position evaluation is carried out by the on-site personnel, the driver inputs an adjustment angle and a distance to a panel of a control device in the cab, the clamp device 100 carries out the angle adjustment of the electric turntable 113, the horizontal displacement adjustment and the automatic angle adjustment of the first chuck 123 and the second chuck 133. The driver operates the clamp device 100 to move to the tire mounting designated position, performs tire mounting, and tightens the screw. After the tire is mounted, the driver manipulates the first and second robot arms 121 and 131 to open, and the first and second chucks 123 and 133 are disengaged from the tire. During the tire mounting process, the distance sensor performs real-time motion detection, such as emergency braking of all the executing end devices when the set limit distance is exceeded.

The fixture device 100 disclosed by the application has the functions of opening and closing, tipping, side moving and rotating, can accurately align the rim bolts, and safely and rapidly realizes the disassembly and the assembly of parts of the engineering vehicle.

The foregoing embodiments of the present utility model mainly describe differences between the embodiments, and as long as there is no contradiction between different optimization features of the embodiments, the embodiments may be combined to form a better embodiment, and in view of brevity of line text, no further description is provided herein.

The foregoing is merely exemplary of the present utility model and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are to be included in the scope of the claims of the present utility model.

Claims (10)

1. A clamp device, characterized by comprising a clamp base (110), a first clamp arm group (120), a second clamp arm group (130) and a ranging sensor (140);

The first clamping arm group (120) comprises a first mechanical arm (121), a first driving source (122) and a first chuck (123); the second clamp arm group (130) comprises a second mechanical arm (131), a second driving source (132) and a second chuck (133); the first mechanical arm (121) and the second mechanical arm (131) are rotationally connected with the clamp base body (110), and the first mechanical arm (121) and the second mechanical arm (131) are oppositely arranged; the first driving source (122) is used for driving the first mechanical arm (121) to move along a direction towards or away from the second mechanical arm (131); the second driving source (132) is used for driving the second mechanical arm (131) to move along the direction towards or away from the first mechanical arm (121); the first clamping plate (123) is arranged at one end, away from the clamp base body (110), of the first mechanical arm (121), the second clamping plate (133) is arranged at one end, away from the clamp base body (110), of the second mechanical arm (131), and clamping spaces can be formed by the first clamping plate (123) and the second clamping plate (133);

At least one of the first robot arm (121) and the second robot arm (131) is provided with the ranging sensor (140), and the ranging sensor (140) is used for detecting a distance from an obstacle.

2. The clamping device according to claim 1, wherein the first clamping arm set (120) further comprises a first motor (124), the first motor (124) is arranged on the first mechanical arm (121), a driving shaft of the first motor (124) is connected with the first chuck (123), and the first motor (124) drives the first chuck (123) to rotate relative to the first mechanical arm (121);

The second clamping arm set (130) further comprises a second motor (134), the second motor (134) is arranged on the second mechanical arm (131), a driving shaft of the second motor (134) is connected with the second clamping chuck (133), and the second motor (134) drives the second clamping chuck (133) to rotate relative to the second mechanical arm (131).

3. The clamping device according to claim 2, wherein the first clamping arm set (120) further comprises a first coupling (125), the drive shaft of the first motor (124) being connected to the first chuck (123) via the first coupling (125); the second arm clamping set (130) further comprises a second coupling (135), and a driving shaft of the second motor (134) is connected with the second chuck (133) through the second coupling (135).

4. The fixture device according to claim 1, wherein the first mechanical arm (121) comprises a first bracket (1211) and a first arm body (1212), one end of the first bracket (1211) is rotatably connected with the fixture base (110), the other end of the first bracket (1211) is rotatably connected with the first arm body (1212), and one end of the first arm body (1212) facing away from the first bracket (1211) is provided with the first chuck (123); the fixed end of the first driving source (122) is connected with the clamp base body (110), and the driving end of the first driving source (122) is connected with the first arm body (1212);

The second mechanical arm (131) comprises a second bracket (1311) and a second arm body (1312), one end of the second bracket (1311) is rotationally connected with the clamp base body (110), the other end of the second bracket (1311) is rotationally connected with the second arm body (1312), and one end of the second arm body (1312) deviating from the second bracket (1311) is provided with the second chuck (133); the fixed end of the second driving source (132) is connected with the clamp base body (110), and the driving end of the second driving source (132) is connected with the second arm body (1312).

5. The fixture device according to claim 4, wherein the first bracket (1211) comprises a first connecting frame (1211 a) and a second connecting frame (1211 b), and both ends of the first connecting frame (1211 a) and the second connecting frame (1211 b) are respectively rotatably connected with the fixture base (110) and the first arm body (1212); the first driving source (122) is located between the first connection frame (1211 a) and the second connection frame (1211 b); and/or the number of the groups of groups,

The second bracket (1311) comprises a third connecting frame (1311 a) and a fourth connecting frame (1311 b), and two ends of the third connecting frame (1311 a) and the fourth connecting frame (1311 b) are respectively and rotatably connected with the clamp base body (110) and the second arm body (1312); the second driving source (132) is located between the third link (1311 a) and the fourth link (1311 b).

6. The fixture device according to claim 1, wherein the fixture base (110) comprises a fixed seat (111), a rotating arm (112) and an electric rotating disc (113), the electric rotating disc (113) is connected with the fixed seat (111), the rotating arm (112) is connected with the electric rotating disc (113), the first mechanical arm (121) and the second mechanical arm (131) are both rotatably connected with the rotating arm (112), and the electric rotating disc (113) can drive the rotating arm (112) to rotate relative to the fixed seat (111).

7. The clamping device according to claim 6, characterized in that the holder (111) is provided with a guide, the electric turntable (113) being in sliding connection with the guide, the electric turntable (113) being movable relative to the holder (111) in the direction of extension of the guide, which intersects the central rotation axis of the swivel arm (112).

8. The jig device according to claim 7, wherein the guide member comprises a first guide shaft (111 a) and a second guide shaft (111 b), the first guide shaft (111 a) and the second guide shaft (111 b) being disposed at intervals along an extending direction of the first guide shaft (111 a), the first guide shaft (111 a) and the second guide shaft (111 b) being parallel; the electric turntable (113) is provided with a first sleeving part (1131) and a second sleeving part (1132), the first sleeving part (1131) is sleeved on the first guide shaft (111 a), and the second sleeving part (1132) is sleeved on the second guide shaft (111 b).

9. The clamp device according to claim 1, characterized in that a surface of a side of the first chuck (123) facing the second chuck (133) is provided with a first tooth structure (1231); the surface of the second chuck (133) facing the side of the first chuck (123) is provided with a second tooth structure (1331).

10. Tool vehicle, characterized by comprising a vehicle body, a control device and a clamp device (100) according to any one of claims 1 to 9, wherein the control device is arranged on the vehicle body, the clamp base body (110) is connected with the vehicle body, the control device is in control connection with the first clamp arm group (120) and the second clamp arm group (130), and the control device is electrically connected with the distance measuring sensor (140).